WO2022223226A1 - Capteur lidar pour un véhicule, comportant un élément de réception pour focaliser dans une région de point focal, véhicule comprenant un capteur lidar et procédé de fonctionnement d'un capteur lidar - Google Patents

Capteur lidar pour un véhicule, comportant un élément de réception pour focaliser dans une région de point focal, véhicule comprenant un capteur lidar et procédé de fonctionnement d'un capteur lidar Download PDF

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Publication number
WO2022223226A1
WO2022223226A1 PCT/EP2022/057603 EP2022057603W WO2022223226A1 WO 2022223226 A1 WO2022223226 A1 WO 2022223226A1 EP 2022057603 W EP2022057603 W EP 2022057603W WO 2022223226 A1 WO2022223226 A1 WO 2022223226A1
Authority
WO
WIPO (PCT)
Prior art keywords
optical
lidar sensor
laser beams
individual laser
vehicle
Prior art date
Application number
PCT/EP2022/057603
Other languages
German (de)
English (en)
Inventor
Jonathan Fischer
Original Assignee
Bayerische Motoren Werke Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bayerische Motoren Werke Aktiengesellschaft filed Critical Bayerische Motoren Werke Aktiengesellschaft
Priority to CN202280027872.XA priority Critical patent/CN117120870A/zh
Publication of WO2022223226A1 publication Critical patent/WO2022223226A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres

Definitions

  • Lidar sensor for a vehicle with a receiving element for focusing in a focal area
  • vehicle comprising a lidar sensor and method for
  • the present invention relates to a lidar sensor for a vehicle.
  • the present invention relates to a vehicle comprising such a lidar sensor.
  • the present invention relates to a method for operating such a lidar sensor.
  • lidar sensors which are used, for example, to detect objects in the vehicle's surroundings.
  • the lidar sensor emits individual light pulses or laser beams into the environment.
  • Lidar sensors for automotive applications usually emit laser beams in a wavelength range that is invisible to the human eye. This is usually infrared radiation with a wavelength of 800 nm to 2500 nm. If the individual laser beam is reflected back to the lidar sensor by an object in the vicinity, for example a vehicle, the distance between be closed between the lidar sensor and the object.
  • an area of the environment can be scanned or sampled.
  • the scanned area of the environment is also called the field of view or detection area of the lidar sensor.
  • the reflection points i.e. those points in the environment that have reflected the light pulse or laser beam from the lidar sensor, are combined into a so-called lidar point cloud.
  • This lidar point cloud serves as a representation of the environment.
  • the light pulse or laser beam can be directed in a specific direction of the environment.
  • the environment is scanned with several thousand light pulses or laser beams. For this it is necessary that the mirror systems for receiving of the laser beams reflected back to the lidar sensor are precisely aligned in the transmission direction.
  • lidar sensors which include MEMS mirrors or microelectromechanical mirrors.
  • MEMS mirrors or microelectromechanical mirrors are often connected in parallel on the receiving side in order to increase the receiving area compared to a receiving device designed with one mirror.
  • This approach only works if the microelectromechanical mirrors are all moved synchronously.
  • the demands on the synchronous movement are high. They are defined by the beam divergence and the angular resolution. Typical values are in the range of less than 0.025° or generally % of the angular resolution.
  • the microelectromechanical mirrors move with an angular velocity of 90007s.
  • the synchronous movement must be maintained dynamically, regardless of external influences or temperature, humidity, vibrations or mechanical shocks or the like.
  • the publication US 2018/0128920 A1 discloses a lidar system comprising a processor that is set up to control the light propagation of a light source and to scan the field of view by repeatedly moving at least one light deflector, i.e. a mirror for deflecting individual laser beams, while at least one another light deflector is in the same alignment. Furthermore, the lidar system is set up to receive the reflected laser beams by means of at least one additional deflector.
  • a vehicle with such a lidar sensor is to be provided.
  • this object is achieved by a lidar sensor for a vehicle, by a method and by a vehicle having the features according to the independent claims.
  • Advantageous developments of the present invention are specified in the dependent claims.
  • a lidar sensor according to the invention for a vehicle includes an optical transmission device for scanning an environment of the vehicle within a predetermined detection range by means of individual laser beams or sequentially transmitted light pulses.
  • the lidar sensor for a vehicle also includes an optical receiving device, which has a receiving element for receiving of the individual laser beams or light pulses reflected in the surroundings and at least one detector for converting the reflected individual laser beams into an electrical signal.
  • the lidar sensor includes an evaluation device for determining a representation of the environment in the detection area based on the electrical signal.
  • the receiving element of the lidar sensor comprises at least one optical lens, wherein the at least one optical lens is set up to focus the individual laser beams reflected back to the at least one optical lens from the entire detection area in a predetermined focal point area. Furthermore, the detector is set up to convert the individual laser beams focused in the focal point area into the electrical signal.
  • the lidar sensor is used to create a representation of the environment in the detection area using a lidar point cloud. This representation of the environment in the detection area can be used, for example, to determine what is known as an environment model.
  • the lidar sensor can preferably be installed behind the windshield or on the roof of the vehicle. However, the lidar sensor can also be at least partially integrated into an area of the outer skin of the vehicle. The lidar sensor can also be installed distributed over the vehicle.
  • a light source of the optical transmission device of the lidar sensor can generate individual laser beams and can include a laser diode, for example.
  • the laser beams can be emitted into the surroundings of the vehicle within the predetermined detection range by means of the optical transmission device.
  • the predetermined detection area is scanned by numerous individual laser beams.
  • the individual laser beam in the vicinity of the vehicle is reflected back to the lidar sensor, it can be received by the optical receiving device.
  • the individual laser beam that is received and reflected back to the lidar sensor is converted by a detector into an electrical signal.
  • the detector can be designed as a photodiode, for example, or can include at least one photodiode.
  • the distance between the lidar sensors and the reflection point can be determined on the basis of the elapsed time or the transit time that has elapsed between the emission of the individual laser beam and the receipt of the individual laser beam reflected back to the lidar sensor. In order to be able to receive the individual laser beam reflected back to the lidar sensor at all, it must be ensured that the receiving element can guide the individual laser beam reflected back to the lidar sensor to the detector of the optical receiving device.
  • the receiving element of the optical receiving device does not include any mechanically alignable or movable components for guiding the individual laser beam reflected back to the lidar sensor.
  • Mechanically adjustable or moving components react sensitively to environmental influences such as vibrations and/or temperature influences. Vibrations can adversely affect the reception quality of the individual laser beams reflected back to the lidar sensor.
  • the ambient temperature and/or humidity in the environment can also affect the movement of the components.
  • the invention provides that the receiving element comprises at least one optical lens which is set up to focus the individual laser beams reflected back to the lidar sensor in a predetermined focal point range in the entire detection range of the lidar sensor.
  • the focal point or focus of the optical lens is the point at which the rays that are incident parallel to the optical axis intersect.
  • the rays do not always intersect at the same point, but in an area around the focal point. This area around the focus is referred to herein as the focus area.
  • the detector of the optical receiving device is preferably set up in such a way that the individual laser beams that are focused in the focal point area and reflected back to the lidar sensor can be converted into the electrical signal.
  • a mechanical alignment of the receiving element can thus be dispensed with.
  • a receiving element is used which has no moving components.
  • a lidar sensor can thus be provided which is robust against environmental influences.
  • the fiber can be a so-called multimode fiber.
  • optical waveguides are usually distinguished by the number of vibration modes that can propagate, which are limited by the core diameter of the fiber.
  • the fiber is designed in such a way that the individual laser beams reflected back to the lidar sensor, which are focused by the at least one optical lens in the focal point area, can couple into the fiber of the optical waveguide and can be guided by the optical waveguide to the detector.
  • the at least one optical lens and the at least one optical waveguide can be arranged relative to one another in such a way that the focal point area is assigned to the fiber of the optical waveguide.
  • the at least one optical lens and the at least one optical waveguide can be arranged at a distance from one another.
  • the distance between the at least one optical lens and the at least one optical waveguide can correspond to the focal length of the at least one optical lens.
  • the cross-sectional area of the fiber corresponds to the area of the focal region.
  • the cross-sectional area of the fiber can also be larger than the area of the focal region.
  • the at least one optical lens and the at least one optical waveguide can also be connected to one another.
  • the individual laser beams reflected back to the lidar sensor which are focused by the receiving element in the focal point area, are guided to the detector by means of an optical waveguide by total reflection within the optical waveguide. Since fiber optics have low losses and due to the flexibility of the fiber optics, it is possible to place the detector almost anywhere. This makes it possible for the installation space of the lidar sensor to be variable.
  • the receiving element and the detector of the receiving device can be arranged in relation to one another in almost any way.
  • the receiving element can thus be integrated into the vehicle in a visually appealing manner, for example, without having to reserve appropriate installation space in the immediate vicinity of the receiving element for the detector.
  • the optical receiving device of the lidar sensor comprises a plurality of optical lenses and a plurality of optical waveguides, one of the optical lenses being assigned to one of the optical waveguides.
  • the effective area of the receiving element of the optical receiving device can be increased by a plurality of optical lenses. The larger the effective area of the receiving element of the optical receiving device, the higher the intensity of the received individual laser beam that is reflected back to the lidar sensor and is guided to the detector.
  • the surface of an individual optical lens of the receiving element can be selected in such a way that the material thickness of the optical lens does not exceed a predetermined limit value.
  • the area of the receiving element of the optical receiving device can be enlarged by using a plurality of optical lenses.
  • Each optical lens can be assigned an optical waveguide, which is arranged in such a way that the individual laser beams reflected back to the lidar sensor, which are at least partially focused in the respective focal point area, can couple into the fiber of the respective optical waveguide. It is thus possible for as large a number of photons as possible to be received by the receiving element of the optical receiving device and guided to the detector. This ensures that a reflection on an object in the vicinity of the vehicle can be reliably detected, even though receiving elements with a small area are used.
  • the electromagnetic radiation focused by each individual optical lens of the receiving element, which originates from the individual laser beams reflected back to the lidar sensor, can be used in order to detect a total reflection in the area surrounding the vehicle.
  • the plurality of optical lenses can cover the entire predetermined detection area. In this way, it can be ensured that a large, predetermined detection area can be covered by the receiving element, even though a single optical lens does not have the individual laser beam reflected back to the lidar sensor in a corresponding focus area can focus, so that the focused laser beam can couple into the fiber of the respective optical waveguide.
  • the plurality of optical lenses can be arranged next to one another in multiple columns and/or multiple rows.
  • a lidar sensor with such an arrangement can include, for example, between two and several hundred optical lenses.
  • the optical lenses can be made of glass or plastic.
  • the optical lenses can be in the form of microlenses or can be produced by means of a microtechnical process.
  • the detector of the optical receiving device comprises a plurality of photodetectors, one of the photodetectors being assigned to one of the optical waveguides.
  • the plurality of optical lenses of the receiving element is used so that individual lenses only cover a partial area of the predetermined detection area.
  • the predetermined detection range can be 120° and the receiving element can comprise two optical lenses, each covering a range of 60°.
  • a photodetector can be assigned to one optical lens or one of the optical waveguides. In this sense, it is also conceivable that the optical lenses are aligned in such a way that their optical axes are not parallel to one another in pairs.
  • the photodetectors and the optical waveguides can be arranged in relation to one another in such a way that the laser beams guided in the optical waveguide reach the photodetector.
  • the respective optical waveguides and the photodetectors can be arranged at a distance from one another and/or can be connected to one another.
  • At least two of the optical waveguides are spliced and the spliced optical waveguides are assigned to a photodetector of the detector of the receiving device.
  • at least two of the optical waveguides are connected to one another and their common end is assigned to a photodetector of the detector of the receiving device.
  • Such an embodiment is also called a fiber-coupled photodetector.
  • Such an embodiment is useful when a plurality of optical lenses are used to increase the total effective area of the receiving element.
  • the photons of the individual laser beams reflected back to the lidar sensor, received by each optical lens, can be added up in such a way that the intensity increases and a Element or an object in the area can be detected more reliably.
  • the more photons are guided to the photodetector, the more reliably the individual laser beams reflected back to the lidar sensor can be converted into an electrical signal and the more reliably an element or an object in the vicinity can be detected.
  • the receiving element can comprise four optical lenses and the detector can comprise two photodetectors, for example.
  • Two of the optical waveguides assigned to the four optical lenses are spliced.
  • two of the total of four optical waveguides are connected to one another and their common end is assigned to one of the photodetectors of the detector.
  • the four optical lenses can now be arranged in such a way that two different partial areas of the predetermined detection area are covered.
  • two of the optical lenses each cover the same partial area, so that the effective total area of the receiving element for this partial area is given by two of the four optical lenses.
  • a total of four optical lenses are therefore used in this example to increase the effective total area of the receiving element and to cover individual partial areas of the predetermined detection area.
  • the at least one optical lens of the receiving element of the lidar sensor is designed as an optical converging lens with a numerical aperture greater than 0.25.
  • the numerical aperture characterizes the ability of an optical lens to focus light. In air, the numerical aperture is always a value between 0 and 1. The larger the numerical aperture, the easier it is for rays that are not parallel to the optical axis of the optical lens to be focused at the focal point. In other words, this means that a large numerical aperture guarantees the smallest possible focus area.
  • a numerical aperture of 0.25 allows a predetermined detection range of about 30° or about ⁇ 15°. Alternatively, a numerical aperture of 0.25 allows coverage of a portion of the predetermined coverage area of approximately 30°.
  • the lidar sensor provides that the majority of the optical lenses of the receiving element are arranged spherically or cylindrically at least in certain areas.
  • a direction vector of the optical axis of the plurality of optical lenses and a normal vector of a sphere or a cylinder can consequently be collinear.
  • the optical lenses can be arranged side by side on a spherical or cylindrical surface.
  • the optical lenses can be arranged on a base body or carrier element that is transparent to the laser beams. This base body can be spherical or cylindrical.
  • the respective focal point areas are also arranged spherically or cylindrically. If, in addition, a plurality of optical lenses are used for a specific partial area of the predetermined detection area, it is also possible for only the respective focal point areas to be arranged spherically or cylindrically.
  • a cylindrical arrangement of the plurality of optical lenses of the receiving element is particularly advantageous when the predetermined detection range of the lidar sensor includes a large horizontal angular range.
  • a spherical arrangement of the plurality of optical lenses of the receiving element of the lidar sensor makes sense in particular when the predetermined detection range also has a large vertical angular range in addition to a large horizontal angular range.
  • the optical transmission device controls the direction of the individual laser beams by means of a microelectromechanical mirror or electronic beam steering.
  • Microelectromechanical mirrors also known as MEMS mirrors, are used to steer the laser beam generated by a light source horizontally and vertically.
  • individual laser beams can be emitted in the entire predetermined detection area.
  • the individual laser beams can also be controlled by electronic beam swiveling.
  • the direction of the individual laser beams can be controlled electronically using a phased array, also known as an optical phased array. No information on the direction of the individual laser beams that are reflected back to the lidar sensor is available within the receiving device.
  • a vehicle according to the invention includes a lidar sensor according to the invention.
  • the vehicle can in particular be designed as a passenger car.
  • the lidar sensor can be arranged, for example, on the roof of the vehicle or behind the windshield of the vehicle.
  • the lidar sensor can also be integrated at least partially in the outer skin of the vehicle in a visually appealing manner.
  • the vehicle may also include multiple lidar sensors.
  • the vehicle preferably includes driver assistance systems that use the representation of the vehicle's surroundings determined by the lidar sensor to control the longitudinal and/or lateral guidance of the vehicle.
  • a method for operating a lidar sensor of a vehicle is used to scan the surroundings of the vehicle within a predetermined detection range using individual laser beams using an optical transmission device.
  • the method includes receiving the individual laser beams reflected in the surroundings and converting the reflected individual laser beams into an electrical signal by means of an optical receiving device.
  • the method also includes determining a representation of the surroundings in the detection area based on the electrical signal using an evaluation device.
  • the individual laser beams reflected back from the entire detection area are focused in a predetermined focal point by means of at least one optical lens of the receiving element. It is also provided that the individual laser beams focused in the focal point area are converted into the electrical signal by means of a detector.
  • FIG. 1 shows a schematic representation of a vehicle which has a lidar sensor
  • FIG. 2 shows a schematic representation of a lidar sensor according to the prior art, comprising an optical transmission device and an optical reception device, and
  • FIG. 3 shows a schematic representation of an optical receiving device, comprising a plurality of optical lenses as receiving elements and partially designed with spliced optical waveguides.
  • the lidar sensor 2 includes an optical transmission device 3, which is used to scan an environment 4 of the vehicle 1 within a predetermined detection range 5 using individual laser beams.
  • the lidar sensor 2 comprises an optical receiving device 6, which is used to receive the individual laser beams 10 reflected back to the lidar sensor 2 by an object in the surroundings 4 and to convert them into an electrical signal by means of a detector.
  • the lidar sensor 2 includes an evaluation device 7 for determining a representation of the surroundings 4 in the detection area 5 based on the electrical signal. The electrical signal is transmitted from the optical receiving device 6 to the evaluation device 7 by means of an optical fiber 8 .
  • the lidar sensor 2 shows a lidar sensor 2 according to the prior art in a schematic representation.
  • the lidar sensor 2 includes an optical receiving device 6, the receiving elements of which include three microelectromechanical mirrors 9 in the present example.
  • the optical transmission device 3 also has a microelectromechanical mirror 9' for controlling the direction of the individual laser beams 10 emitted.
  • the microelectromechanical mirrors 9 of the optical receiving device 6 are aligned identically to the microelectromechanical mirror 9 ′ of the optical transmitting device 3 or synchronized. If the individual laser beam 10 is reflected back to the lidar sensor 2 by an object in the surroundings 4 of the vehicle, the planar wavefront 11 of the laser beam 12 reflected back to the lidar sensor strikes the microelectromechanical mirror 9 of the optical receiving device 6. From there, the laser beam 12 reflected back to the lidar sensor 2 is guided to the detector of the receiving device 6 .
  • the distance to an object in the surroundings 4, which has reflected the individual laser beams 10, can be determined on the basis of the transit time of the individual laser beams 10 and the transit time of the laser beams 12 reflected back to the lidar sensor.
  • the angle of the object in the surroundings 4 which reflects the laser beams 10 can also be determined on the basis of the current alignment of the microelectromechanical mirrors 9 . As a result, a representation of the surroundings 4 in the detection area 5 can be determined.
  • FIG. 3 shows, in a schematic representation, the optical receiving device 6 of a lidar sensor 2 according to an embodiment of the invention.
  • the optical receiving device 6 of the lidar sensor 2 includes a detector 13.
  • the detector 13 has two photodetectors 16 in the present example.
  • the optical receiving device 6 also includes four optical lenses 14. Three of the optical lenses 14 receive the beams 12 reflected back to the lidar sensor 2 from a partial area 19 of the predetermined detection area 5.
  • One of the four optical lenses 4 receives the beams reflected back to the lidar sensor 2 from a sub-area 20.
  • the sub-area 19 and the sub-area 20 cover the entire predetermined detection area 5.
  • the beams received and reflected back to the lidar sensor 2 are focused by the optical lenses 14 in their respective focal point area 18 .
  • the focal point or focus of the optical lens is the point at which the rays that are incident parallel to the optical axis intersect. However, if the rays are not incident parallel to the optical axis, as may be the case in the case of the lidar sensor with a corresponding predetermined detection area, the rays do not always intersect at the same point, but rather in an area around the focal point. This area around the Focus is referred to herein as focus area.
  • the distance between the focal point area 18 and the respective optical lens 14 corresponds to the focal length of the respective optical lens 14.
  • the optical lens 14 and the associated optical waveguide 8 are arranged at a distance from one another in the present example.
  • the distance between the optical lens 14 and the associated optical waveguides 8 or their fibers 17 corresponds approximately to the focal length of the optical lens 14.
  • the cross-sectional area of the fiber 17 ideally corresponds to the area of the focal point area 18.
  • the cross-sectional area of the fiber 17 can also be larger than the area of the focal area 18.
  • An optical waveguide 8 is assigned to each of the optical lenses 14 .
  • Each optical waveguide 8 includes a fiber 17 which guides the received individual laser beams 12 reflected back to the lidar sensor 2 to the detector 13 .
  • three of the optical waveguides 8 are spliced.
  • the spliced optical waveguides 15 are associated with a photodetector 16 of the detector 13 .
  • the effective receiving surface of the receiving element of the optical receiving device 6 can be enlarged by the plurality of optical lenses 14, whose associated optical waveguides 8 are spliced.
  • a further optical lens 14 is used to cover a partial area 20 of the predetermined detection area 5 .
  • This optical lens 14 is coupled directly to a photodetector 16 via an optical waveguide 8 .
  • the optical lenses 14, whose assigned optical waveguides 8 are spliced, cover a partial area 19 of the predetermined detection area 5 and the missing partial area of the predetermined detection area is covered by a further optical lens 14.
  • the optical receiving device 6 can be designed in such a way that each individual optical lens 14 is coupled directly to a photodetector 16 with a respective optical waveguide 8 .
  • the optical receiving device 6 can also only have spliced optical waveguides 15 .
  • the optical receiving device 6 can have any combination of optical waveguides 8 and spliced optical waveguides 15 . In the example of Fig.
  • the optical lenses 14 are arranged in a planar manner. It can also be provided that the optical lenses 14 are arranged cylindrically or spherically.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

Le capteur lidar selon l'invention, destiné à un véhicule, comprend un dispositif d'émission optique pour balayer un environnement du véhicule dans une région de détection prédéfinie au moyen de faisceaux laser individuels. Le capteur lidar comprend également un dispositif de réception optique qui comprend un élément de réception pour recevoir les faisceaux laser individuels réfléchis dans l'environnement, et un détecteur pour convertir les faisceaux laser individuels réfléchis en un signal électrique. De plus, le capteur lidar comprend un dispositif d'évaluation pour déterminer une représentation de l'environnement dans la région de détection sur la base du signal électrique. En outre, l'élément de réception du capteur lidar comprend au moins une lentille optique, l'au moins une lentille optique étant conçue pour focaliser, dans une région de point focal prédéfinie, les faisceaux laser individuels réfléchis vers l'au moins une lentille optique par toute la région de détection. En outre, le détecteur est conçu pour convertir les faisceaux laser individuels focalisés dans la région de point focal en signal électrique.
PCT/EP2022/057603 2021-04-19 2022-03-23 Capteur lidar pour un véhicule, comportant un élément de réception pour focaliser dans une région de point focal, véhicule comprenant un capteur lidar et procédé de fonctionnement d'un capteur lidar WO2022223226A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202280027872.XA CN117120870A (zh) 2021-04-19 2022-03-23 用于具有用于在焦点区域中聚焦的接收元件的车辆的激光雷达传感器、包括激光雷达传感器的车辆以及用于操作激光雷达传感器的方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021109727.4A DE102021109727A1 (de) 2021-04-19 2021-04-19 Lidar-Sensor für ein Fahrzeug mit Empfangselement zum Fokussieren in einem Brennpunktbereich, Fahrzeug umfassend einen Lidar-Sensor sowie Verfahren zum Betreiben eines Lidar-Sensors
DE102021109727.4 2021-04-19

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WO2022223226A1 true WO2022223226A1 (fr) 2022-10-27

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CN (1) CN117120870A (fr)
DE (1) DE102021109727A1 (fr)
WO (1) WO2022223226A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150219764A1 (en) * 2014-02-06 2015-08-06 GM Global Technology Operations LLC Low cost small size lidar for automotive
DE102014118056A1 (de) * 2014-12-08 2016-06-09 Valeo Schalter Und Sensoren Gmbh Optoelektronische Detektionseinrichtung fuer ein Kraftfahrzeug sowie Verwendung einer solchen Detektionseinrichtung
US20180128920A1 (en) 2016-09-20 2018-05-10 Innoviz Technologies Ltd. Detector-array based scanning lidar
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